Steel-flexible coupling ankle joint rehabilitation robot of parallel mechanism

Abstract

The invention discloses a steel-flexible coupling ankle joint rehabilitation robot of a parallel mechanism, the steel-flexible coupling ankle joint rehabilitation robot of the parallel mechanism comprises a fixed platform and a flexible quadrilateral module, the flexible quadrilateral module is hinged with the fixed platform, and one end of the flexible quadrilateral module far away from the fixed platform is provided with a ball pair; the flexible quadrilateral module is connected with the movable platform through a ball pair, the fixed platform is clamped on the shank of a patient, the movable platform makes contact with the foot, and the movable platform moves directionally so as to conduct rehabilitation exercise on the ankle joint; a motor is arranged on the fixed platform and drives the movable platform to vibrate so as to massage the feet of the patient. According to the steel-flexible coupling ankle joint rehabilitation robot of the parallel mechanism, dorsal / toe flexion, inward / outward turning and inward / outward rotation of the ankle joint can be achieved, coupling movement between the supratalar joint and the subtalar joint can be fitted, the rehabilitation robot can conform to rehabilitation tracks of different patients, meanwhile, the movable platform has the self-deformation capacity, and the rehabilitation effect is good. The massage movement on the feet of the patient can be realized.

Description

Technical Field

[0001] The invention belongs to the technical field of rehabilitation equipment, and in particular relates to a steel-flexible coupling ankle joint rehabilitation robot with a parallel mechanism. Background Art

[0002] During ankle rehabilitation training, doctors not only need to guide patients to perform dorsiflexion and plantar flexion, internal and external eversion, internal and external rotation and other training, but also need to massage the patient's feet to promote blood circulation and remove blood stasis. Existing ankle rehabilitation robots only consider guiding patients' feet to perform rehabilitation training, and cannot achieve the massage function for patients' feet.

[0003] In addition, although the bone structures of different patients are basically similar and their movement patterns are roughly the same, the tissue and ligament structures of different patients are quite different, resulting in different movement coupling relationships between the tibiotalar joint and the subtalar joint, so the rehabilitation trajectories of different patients are also different.

[0004] In order to achieve good rehabilitation training effects and avoid secondary injuries, the movement of the ankle rehabilitation robot is required to conform to the rehabilitation trajectory of different patients, but the existing pure rigid ankle rehabilitation robot cannot meet this requirement.

[0005] Therefore, there is an urgent need to design a steel-flexible coupled ankle rehabilitation robot with a parallel mechanism to solve the problems of ankle rehabilitation exercise and massage mentioned above. Summary of the invention

[0006] In order to solve the technical problems mentioned in the background technology that the existing ankle rehabilitation robots only consider driving the patient's feet for rehabilitation training, cannot realize the massage function of the patient's feet, and need to adapt to the rehabilitation trajectories of different patients, a steel-flexible coupled ankle rehabilitation robot with a parallel mechanism is provided to solve the problems of ankle rehabilitation exercise and massage.

[0007] To achieve the above objectives, the specific technical solution of the parallel mechanism steel-flexible coupling ankle joint rehabilitation robot of the present invention is as follows: A parallel mechanism steel-flexible coupled ankle joint rehabilitation robot comprises a fixed platform and a flexible quadrilateral module, the flexible quadrilateral module is hinged to the fixed platform, a ball pair is arranged at one end of the flexible quadrilateral module away from the fixed platform, the flexible quadrilateral module is connected to a moving platform via the ball pair, the fixed platform is clamped on the patient's calf, the moving platform contacts the foot, and the moving platform moves in a directional manner to perform rehabilitation exercises on the ankle joint; a motor is arranged on the fixed platform, and the motor drives the moving platform to vibrate to massage the patient's foot.

[0008] Furthermore, a plurality of flexible quadrilateral modules are arranged at intervals along the circumference of the fixed platform, and the plurality of flexible quadrilateral modules are hinged to the fixed platform via a revolute pair.

[0009] Furthermore, the flexible quadrilateral module includes a first support rod, a second support rod and a third support rod, the second support rod and the third support rod are both hinged to the first support rod through a rotating pair, and one end of the first support rod away from the second support rod and the third support rod is hinged to the fixed platform through a rotating pair.

[0010] Furthermore, the flexible quadrilateral module also includes a fourth support rod, one end of which is hinged to the second support rod and the third support rod through a revolute pair, and one end of the fourth support rod away from the second support rod and the third support rod is connected to the moving platform through a ball pair.

[0011] Furthermore, the moving platform includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, and the fixed platform is connected to the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod through a ball joint.

[0012] Furthermore, a first connecting beam is hingedly connected between the first connecting rod and the second connecting rod via a rotating pair.

[0013] Furthermore, the second connecting rod and the third connecting rod are hinged to the second connecting beam and the third connecting beam through a revolving pair, and one end of the second connecting beam and the third connecting beam away from the second connecting rod and the third connecting rod is hinged through a revolving pair.

[0014] Furthermore, the second connecting rod and the third connecting rod are hinged with a fourth connecting beam and a fifth connecting beam through a rotation pair, and one end of the fourth connecting beam and the fifth connecting beam away from the second connecting rod and the third connecting rod is connected through a ball pair.

[0015] Furthermore, a sixth connecting beam is hingedly connected between the third connecting rod and the fourth connecting rod via a rotation pair.

[0016] Furthermore, the second connecting beam and the third connecting beam are connected with massage manipulators, which are in contact with the feet to enable the ankle joint to perform rehabilitation exercises and massage the patient's feet.

[0017] The steel-flexible coupling ankle joint rehabilitation robot of the parallel mechanism of the present invention has the following advantages: Through the steel-flexible coupling ankle rehabilitation robot, not only can the dorsiflexion / taloes flexion, inversion / eversion and internal / external rotation of the ankle joint be achieved, but also the coupling movement between the supralal joint and the subtalar joint can be fitted, so that the rehabilitation robot can adapt to the rehabilitation trajectory of different patients. At the same time, the dynamic platform has the ability of self-deformation, which can realize massage movement for the patient's foot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The overall structural diagram of the steel-flexible coupling ankle joint rehabilitation robot of the parallel mechanism of the present invention; Figure 2 It is a structural schematic diagram of the fixed platform of the steel-flexible coupling ankle joint rehabilitation robot of the parallel mechanism of the present invention; Figure 3 It is a schematic structural diagram of the flexible quadrilateral module of the steel-flexible coupling ankle joint rehabilitation robot of the parallel mechanism of the present invention; Figure 4 It is a structural schematic diagram of the dynamic platform of the steel-flexible coupling ankle joint rehabilitation robot of the parallel mechanism of the present invention.

[0019] Description of the markings in the figure: 1. Fixed platform; 2. Flexible quadrilateral module; 21. First support rod; 22. Second support rod; 23. Third support rod; 24. Fourth support rod; 3. Moving platform; 31. First connecting rod; 32. Second connecting rod; 33. Third connecting rod; 34. Fourth connecting rod; 4. Ball pair; 5. Rotation pair; 6. First connecting beam; 7. Second connecting beam; 8. Third connecting beam; 9. Fourth connecting beam; 10. Fifth connecting beam; 11. Sixth connecting beam; 12. Massage manipulator. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0021] Those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the claims, any one of the claimed embodiments may be used in any combination.

[0022] Please refer to the attached Figure 1 To Attachment Figure 4 The present invention describes a steel-flexible coupling ankle joint rehabilitation robot with a parallel mechanism.

[0023] like Figure 1 As shown, the steel-flexible coupled ankle joint rehabilitation robot of the parallel mechanism in the present invention includes a fixed platform 1 and a flexible quadrilateral module 2, the flexible quadrilateral module 2 is hinged to the fixed platform 1, a ball pair 4 is provided at one end of the flexible quadrilateral module 2 away from the fixed platform 1, the flexible quadrilateral module 2 is connected to the moving platform 3 through the ball pair 4, the fixed platform 1 is clamped on the patient's calf, the moving platform 3 is in contact with the foot, and the moving platform 3 moves in a directional manner to perform rehabilitation exercises on the ankle joint; a motor is provided on the fixed platform 1, and the motor drives the moving platform 3 to vibrate to massage the patient's foot.

[0024] Through the steel-flexible coupling ankle rehabilitation robot, not only can the dorsiflexion / taloes flexion, inversion / eversion and internal / external rotation of the ankle joint be realized, but also the coupling movement between the supralal joint and the subtalar joint can be fitted, so that the rehabilitation robot can adapt to the rehabilitation trajectory of different patients. At the same time, the dynamic platform 3 has the ability of self-deformation, which can realize massage movement for the patient's foot.

[0025] The present application has six degrees of freedom, which are respectively manifested in three posture degrees of freedom, two position degrees of freedom and one self-deformation degree of freedom of the moving platform. During the process of leading patients to perform rehabilitation training, the posture and position of the moving platform 3 are decoupled. The posture of the moving platform 3 is completely controlled by the drive motor, and the deformation movement of the flexible quadrilateral module can adapt to the foot-to-foot coupling movement of different patients.

[0026] Further, if Figures 1 to 3 As shown, a plurality of flexible quadrilateral modules 2 are arranged at intervals along the circumference of the fixed platform 1, and the plurality of flexible quadrilateral modules 2 are hinged to the fixed platform 1 through a revolute pair 5; the flexible quadrilateral module 2 includes a first support rod 21, a second support rod 22 and a third support rod 23, and the second support rod 22 and the third support rod 23 are hinged to the first support rod 21 through a revolute pair 5, and one end of the first support rod 21 away from the second support rod 22 and the third support rod 23 is hinged to the fixed platform 1 through a revolute pair 5; the flexible quadrilateral module 2 also includes a fourth support rod 24, one end of the fourth support rod 24 is hinged to the second support rod 22 and the third support rod 23 through a revolute pair 5, and one end of the fourth support rod 24 away from the second support rod 22 and the third support rod 23 is connected to the moving platform 3 through a ball pair 4.

[0027] In this embodiment, preferably, the fixed platform 1 is a circular ring with an opening, and a plurality of flexible quadrilateral modules 2 are arranged on the outer wall of the fixed platform 1. The fixed platform 1 is clamped on the calf through the opening, and the plurality of flexible quadrilateral modules 2 are hinged to the fixed platform 1 through a rotating pair 5.

[0028] The flexible quadrilateral module 2 consists of a first support rod 21, a second support rod 22 and a third support rod 23. The second support rod 22 and the third support rod 23 are hinged on the first support rod 21 through a rotating pair 5. The second support rod 22 and the third support rod 23 are hinged to a fourth support rod 242 at one end away from the first support rod 21 through a rotating pair 5. The fourth support rod 24 is connected to the moving platform 3 at one end away from the second support rod 22 and the third support rod 23 through a ball pair 4. Preferably, the first support rod 21, the second support rod 22, the third support rod 23 and the fourth support rod 24 are all made of flexible steel.

[0029] A motor is provided at the hinged rotating pair 5 of the fixed platform 1, and the motor drives the first support rod 21, which in turn drives the second support rod 22 and the third support rod 23, so that the fourth support rod 24 drives the movable platform 3 to move and vibrate; the first support rod 21, the second support rod 22, the third support rod 23 and the fourth support rod 24 made of flexible steel can undergo elastic deformation during the rehabilitation training process, thereby realizing the position change of the movable platform 3.

[0030] Further, if Figure 1 and Figure 4 As shown, in this embodiment, the moving platform 3 is a symmetrical structure as a whole. Preferably, the moving platform 3 is composed of a first connecting rod 31, a second connecting rod 32, a third connecting rod 33 and a fourth connecting rod 34, and the fourth support rod 24 is hinged to the first connecting rod 31, the second connecting rod 32, the third connecting rod 33 and the fourth connecting rod 34 through a ball joint 4.

[0031] Preferably, two first connecting beams 6 are arranged between the first connecting rod 31 and the second connecting rod 32, and the two first connecting beams 6 are hinged to the first connecting rod 31 and the second connecting rod 32 through a revolute pair 5; Furthermore, the second connecting rod 32 and the third connecting rod 33 are hingedly connected to the second connecting beam 7 and the third connecting beam 8 via the rotating pair 5 , and the second connecting beam 7 and the third connecting beam 8 are hingedly connected at one end away from the second connecting rod 32 and the third connecting rod 33 via the rotating pair 5 .

[0032] Further, if Figure 4 As shown, in the present embodiment, preferably, the second connecting rod 32 and the third connecting rod 33 are hingedly connected with the fourth connecting beam 9 and the fifth connecting beam 10 through the rotating joint 5, and the fourth connecting beam 9 and the fifth connecting beam 10 are connected through the ball joint 4 at one end away from the second connecting rod 32 and the third connecting rod 33, and the fourth connecting beam 9 and the fifth connecting beam 10 are located below the second connecting beam 7 and the third connecting beam 8.

[0033] A sixth connecting beam 11 is hingedly connected between the third connecting rod 33 and the fourth connecting rod 34 via a rotating pair 5; and a massage manipulator 12 is connected to the second connecting beam 7 and the third connecting beam 8. The massage manipulator 12 is in contact with the foot, which can not only realize ankle joint rehabilitation movement, but also fit the coupling movement between the supratalar joint and the subtalar joint, so that the rehabilitation robot can adapt to the rehabilitation trajectory of different patients and massage the patients' feet.

[0034] The working principle of the steel-flexible coupling ankle joint rehabilitation robot of the parallel mechanism of this application is as follows: During the process of the ankle joint rehabilitation robot leading the patient to perform rehabilitation training, the posture and position of the dynamic platform 3 are decoupled. The posture of the dynamic platform 3 is completely controlled by the drive motor and has nothing to do with the movement of the flexible quadrilateral module 2. The drive motor can control the macroscopic movement of the patient's foot, and the deformation movement of the flexible quadrilateral module 2 can adapt to the foot-to-foot coupling movement of different patients.

[0035] The steel-flexible coupling ankle rehabilitation robot based on the parallel mechanism can not only realize the dorsiflexion / taloes flexion, inversion / eversion and internal / external rotation of the ankle joint, but also fit the coupling movement between the supralal joint and the subtalar joint, so that the rehabilitation robot can adapt to the rehabilitation trajectory of different patients. At the same time, the dynamic platform 3 has the ability of self-deformation, which can realize massage movement for the patient's foot.

[0036] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A parallel mechanism steel-flexible coupling ankle joint rehabilitation robot, characterized in that: It includes a fixed platform and a flexible quadrilateral module, the flexible quadrilateral module is hinged to the fixed platform, a ball pair is provided at one end of the flexible quadrilateral module away from the fixed platform, the flexible quadrilateral module is connected to the moving platform through the ball pair, the fixed platform is clamped on the patient's calf, the moving platform contacts the foot, and the moving platform moves in a directional manner to perform rehabilitation exercises on the ankle joint; A motor is arranged on the fixed platform, and the motor drives the moving platform to vibrate so as to massage the patient's foot.

2. The parallel mechanism steel-flexible coupling ankle joint rehabilitation robot according to claim 1, characterized in that: A plurality of flexible quadrilateral modules are arranged at intervals along the circumference of the fixed platform, and the plurality of flexible quadrilateral modules are hinged to the fixed platform through a revolute pair.

3. The parallel mechanism steel-flexible coupling ankle joint rehabilitation robot according to claim 2, characterized in that: The flexible quadrilateral module comprises a first support rod, a second support rod and a third support rod. The second support rod and the third support rod are both hinged to the first support rod through a rotating pair. One end of the first support rod away from the second support rod and the third support rod is hinged to a fixed platform through a rotating pair.

4. The parallel mechanism steel-flexible coupling ankle joint rehabilitation robot according to claim 3, characterized in that: The flexible quadrilateral module also includes a fourth support rod, one end of which is hinged to the second support rod and the third support rod through a rotating pair, and one end of the fourth support rod away from the second support rod and the third support rod is connected to the moving platform through a ball pair.

5. The parallel mechanism steel-flexible coupling ankle joint rehabilitation robot according to claim 1, characterized in that: The moving platform comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, and the fixed platform is connected with the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod through a ball joint.

6. The parallel mechanism steel-flexible coupling ankle joint rehabilitation robot according to claim 5, characterized in that: A first connecting beam is hingedly connected between the first connecting rod and the second connecting rod via a rotating pair.

7. The parallel mechanism steel-flexible coupling ankle joint rehabilitation robot according to claim 5, characterized in that: The second connecting rod and the third connecting rod are hinged with the second connecting beam and the third connecting beam through a rotating pair, and one end of the second connecting beam and the third connecting beam away from the second connecting rod and the third connecting rod is hinged through a rotating pair.

8. The parallel mechanism steel-flexible coupling ankle joint rehabilitation robot according to claim 7, characterized in that: The second connecting rod and the third connecting rod are hinged with the fourth connecting beam and the fifth connecting beam through a rotating pair, and the fourth connecting beam and the fifth connecting beam are connected through a ball pair at one end away from the second connecting rod and the third connecting rod.

9. The parallel mechanism steel-flexible coupling ankle joint rehabilitation robot according to claim 5, characterized in that: A sixth connecting beam is hingedly connected between the third connecting rod and the fourth connecting rod via a rotating pair.

10. The parallel mechanism steel-flexible coupling ankle joint rehabilitation robot according to claim 7, characterized in that: The second connecting beam and the third connecting beam are connected with massage manipulators, which are in contact with the feet to enable the ankle joint to perform rehabilitation exercises and massage the patient's feet.

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